Final Presentation Spring 2017 Team 1717-Trinity Firefighting Robot Bobby Barrett (Computer Engineering) Kevin Burke (Electrical Engineering) Connor McCullough (Electrical Engineering) Zach Rattet (Electrical Engineering)
Overview ● Rules & Regulations ● Hardware Design ● Flame Detection ● Fire Extinguisher ● Navigation Sensors ● Navigation Approach ● Microcontroller ● Budget ● Timeline K
Trinity International Firefighting Robot Competition ● When? → April 1st & 2nd, 2017 ● Where? → Trinity College (Hartford) ● What? → Build an autonomous robot capable of navigating a maze and extinguishing a fire represented as a candle B
Competition Rules ● The Robot: ○ Once turned on, the robot must be self-controlled without any human interaction. ○ The robot may bump into or touch the walls as it travels, but it cannot mark, damage, or move the walls in doing so. ○ The movement of the robot must not damage the floor of the arena. ○ The robot cannot leave or drop any items in the area as it travels. ○ The robot must fit inside of a box with base dimension 31cm x 31cm and 27cm tall. ○ The robot may not separate into multiple parts. ○ There is no weight restriction. ○ The robot must have a carry handle. ○ The robot must have an arrow indicating front. ○ Sound Activation: the activation frequency is 3.8 kHz which will play for 5sec ○ Must have a kill switch mounted to the top of the robot B
Competition Rules ● Arena: ○ Level 1 has one set area with one dog obstacle and a random candle location ○ Two possible starting positions, chosen by the official B
Hardware Design ● Power: ○ LiPo Battery 16V, 5300mA/h ● Motors: ○ 12V DC motor with encoders ● Navigation: ○ Ultrasonic sensors (SRF-05) ● Processing: ○ Arduino Mega 2560 ● Extinguishing: ○ CO 2 bike pump ○ Linear actuator ○ 16x4 Thermal array sensor K
System Block Diagram 16V C
Basic Design Concept Z
Sound Activation ● Adafruit MAX4466 Electret Microphone ● Compatible with Analog to Digital Converter (ADC) Built Into Arduino ● Uses FFT Library to Find Most Dominant Frequency ● When Amplitude Reaches Certain Set Range, ISR Triggered (ADC_ISR_VECT) ● ISR Uses FFT Library to Get Most Dominant Frequency After ADC ● When Frequency is Within Activation Range, Robot Starts B
Navigation ● Path Planning ○ Start position is known ○ Location is determined through landmarks and room positioning checks ○ Enables check of all four possible candle locations ● PID wall follow navigation ○ Implemented custom PID control to ensure robot stays on straight path ○ Makes decision based on path-planning of when to turn ● Encoder Feedback ○ Allows for precise control of motors ○ Used for room scanning and repositioning C
Navigation Path Planning - Path 1 1) Hallway 1 2) Hallway 2 - Towards Room 3 3) Room 3 - Enter and Scan 4) Room 3 - Exit 5) Hallway 2 - Towards Hallway 3 6) Hallway 3 7) Room 2 - Enter and Scan 8) Room 2 - Exit 9) Hallway 4 10) Room 1 - Scan 11) Hallway 5 12) Hallway 5 - Dog Check 13) Hallway 6 14) Room 4 - Enter 15) Room 4 - Scan K
Navigation Path Planning - Path 2 1) Hallway 1 2) Hallway 2 - Towards Room 3 3) Room 3 - Enter and Scan 4) Room 3 - Exit 5) Hallway 2 - Towards Hallway 3 6) Hallway 3 7) Room 2 - Enter and Scan 8) Room 2 - Exit 9) Hallway 4 10) Room 1 - Scan 11) Hallway 5 12) Hallway 5 - Dog Check 13) Hallway 5 - Exit 14) Hallway Between Room 1 & 4 15) Hallway 1 - Towards Room 4 16) Hallway 6 17) Room 4 - Enter and Scan K
Navigation: PID Wall Follow ) C
Flame Detection ● RoBoard RM-G212 16x4 Thermal Array Sensor ● 64 pixel infrared array ● Produces a map of heat values ● Temperature range: -20°C to 300°C ● 0.02 Degree Celsius uncertainty ● Supply voltage: 3V ● Field of View: 60° horizontal, 16.4° vertical ● Example heat map of candle from 10cm Z
Candle Centering ● Max temperature value in each of the 16 columns was found ● Base comparison value of 50 degrees C for candle detection ● Columns 8 & 9 are the center of the heat map with column 1 being far left and column 16 being far right ● Columns 1-7 were assigned weighted values to turn the robot left ● Columns 10-16 were assigned weighted values to turn the robot right ● Weighted values were applied to alter the number of pulses each motor received based on the candle location ● This allowed the robot to “shuffle” into the center B
Fire Extinguishing ● We used a CO 2 pump activated by a linear actuator Z
Devantech SRF05 Ultrasonic Range Finder ● Ranges 1cm to 4m ● Feedback is accurate until under ⅛ inch ○ Strategically placed on robot so there was no issue ○ Ensures the robot will never max out of range and hit an object ● Field of View is 55 Degrees ○ Mounted sensors on different levels for space issues ○ Prior testing determined height of sensors from ground was no issue ○ Rotated middle sensors to face straight out instead of at an angle Z
Results ● Success: The robot is able to complete the maze and extinguish the candle ● Max time to check all rooms via the longest path (Path 2): 1 minute ● Trial runs at competition successful ● Unable to have successful run after the pump broke ● Final trail at the competition was almost a success. The candle was detected but the wheel caught the side of the maze and caused the motors to completely stall. C
Issues Encountered ● Ultrasonic sensors could not detect stuffed animal ○ Implemented IR Sensors ● Motors stalled at low duty cycle ○ Implement software stalling checks ○ Keep motors rotating above 35% during candle scan ● Active bandpass filter design was flawed ○ Used microphone that is compatible with arduino ADC ● CO 2 pump broke 30 minutes before competition ○ Team 1718 lent us their pump ● Unable to idle robot greater than one minute ○ Replaced regulators and refined ADC interrupt code C
K
K
Order List Z
Questions? Model Currently Fall 2016
Recommend
More recommend
